Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
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TITLE OF THE INVENTION
ELECTRONIC CONTROL MODULE FOR ELECTRICALLY ASSISTED PEDAL-POWERED
BOAT
FIELD OF THE INVENTION
[0001] The present invention relates to a hybrid powertrain for boat or
watercraft that combines
a pedal-powered generator with a battery-powered electric motor.
BACKGROUND OF THE INVENTION
[0002] A multitude of pedal-powered watercraft (also referred to as water
bikes, water-bicycles,
and watercycles) are commercially available. Their main drawback is the
relatively low power
output capability of the operators. Unlike watercraft propelled by
conventional combustion
engines, pedal-powered watercraft are severely limited in power capability,
which is typically
less than 200 watts (around [1/4] hp) per person on a continuous basis. A
cyclist in good
condition can generate around 200 watts at a preferred cadence of around 90-
100 RPM.
[0003] There are also commercially available pedal-powered watercrafts that
allow the use of
an electric motor powered by a battery. However, these watercrafts do not use
simultaneously
both the human kinetic power and the battery power as in the case of known
electrically
assisted bicycles.
[0004] The main difficulty of a boat propulsion system is that it is difficult
to effectively couple
two driving forces that would have to accomplish the transmission of force on
two different
planes or axes unlike the electrically assisted bicycle. For example, on an
electrically assisted
bicycle at a speed of 25 km/h (15.5 miles/h), the wheel rotates typically at
250 RPM and the
cyclist pedals at 60 RPM on average. It is therefore relatively easy to
achieve a 3:1 overdrive.
However, for a boat using an electric motor system the ratio required would be
of about 40:1.
[0005] Most marine propellers use screw propellers with helical blades that
rotate around an
approximately horizontal axis defined by a propeller shaft. These screw
propellers achieve
great efficiency and ease of integration. However, these require high speeds
of rotation and are
unfortunately positioned at 90 degrees with respect to the axis of the pedal
shaft. Mechanically,
the construction of a system combining a propeller driven by electric
propulsion motor and a
mechanical pedaling system would substantially reduce the total efficiency of
the system. For
example, such 90 degrees positioning of the pedal with respect of the
propeller typically reduces
the efficiency by 17% while an overdrive system achieving 60 RPM at 2400 RPM
typically
reduces the efficiency by 15%. This would result in a loss of efficiency of
25% to 35%.
Date Recue/Date Received 2022-12-25
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[0006] Also know is US Patent No. 6,855,016 (Jansen), which discloses a
watercraft
incorporating electrical power generation from human kinetic power, and
electrical energy
storage to enable amplification of human-power to propulsion power to achieve
increased
watercraft speeds. Control electronics enable operator-adjustable variable
electronic gearing,
and an assortment of torque vs. speed loading characteristics of the
generator.
[0007] However, there is still a need in the field for an improved hybrid
pedal powered and
electrically assisted boat propeller system.
SUMMARY OF THE INVENTION
[0008] In order to address the above and other drawbacks, there is provided an
electronic
control module for coupling a mechanically powered electric generator and a
battery to a motor
controller of a watercraft propulsion motor, comprising: an electrical input
operatively connected
to the generator; a processor with a memory having an output operatively
connected to the
motor controller, said processor being operationally selectable by a user to
one of multiple
modes so that the processor being is configured to: in a first mode, combine
power from the
generator with power from the battery to power the motor; in a second mode,
combine power
from the generator with partial power from the battery to power the motor; and
in a third mode,
transfer power from the generator to charge the battery.
[0009] In embodiments, the control module is configured to determine a
direction of rotation of
the generator between a forward direction or a reverse direction; and to
activate the motor in a
same direction as the forward or reverse direction of the generator.
[0010] In embodiments, the control module comprises a comparator having inputs
connected to
electrical terminals of the generator and an output connected to an input of
the motor controller
for determining the direction of rotation of the generator.
[0011] In embodiments, a propeller assembly is operatively connectable to the
electronic
control module.
[0012] In embodiments, a pedal mechanism is operatively connectable to the
propeller
assembly.
[0013] According to the present invention, there is also provided a watercraft
comprising: a
mechanically powered electric generator; an electronic control module
operationally
connectable to the generator; a battery operationally connectable to the
electronic control
module; a motor controller operationally connectable to the electronic control
module; a
propulsion motor operationally connectable to the motor controller for
propelling the watercraft in
forward or backward directions; wherein said processor is operationally
selectable by a user to
choose between one of multiple modes so that the processor is configured to:
in a first mode,
Date Recue/Date Received 2022-12-25
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combine power from the generator with power from the to power the motor; in a
second mode,
combine power from the generator with partial power from the battery to power
the motor; and in
a third mode, transfer power from the generator to charge the battery.
[0014] In embodiments, the method comprises, by the electronic control module:
determining the selected mode among the first, second and third modes; reading
a current
of the generator; comparing the current of the generator to a threshold value;
if the current
is above the threshold value then calculating a propulsion motor power command
depending on the selected mode among the first, second and third modes; and
transmitting
the motor power command to the motor controller.
[0015] In embodiments, the method comprises, by the electronic control module:
determining a direction of rotation of the generator between a forward
direction or a reverse
direction; activating the motor in a same direction as the forward or reverse
direction of the
generator.
[0016] In embodiments, the method comprises, in the first mode, combining up
to 100% of
available power of the generator with to up to 100% of available power of the
battery to
deliver up to 200% power to the motor.
[0017] In embodiments, the method comprises, in the second mode, combining up
to a first
percentage of available power of the generator with up to a second percentage
of available
power of the battery to deliver up to 100% of available power to the motor.
[0018] In embodiments, the first percentage of available power of the
generator is up to
80% and the second percentage of available power of the battery is up to 20%.
[0019] In embodiments, the third mode transfers up 100% of available power of
the
generator to the battery.
[0020] Other objects, advantages and features of the present invention will
become more
apparent upon reading of the following non-restrictive description of specific
embodiments
thereof, given by way of examples only with reference to the accompanying
drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 is a perspective view of a watercraft including a pedal
mechanism an electric
control module, generator, motor controller, battery and motor, according to
an illustrative
embodiment of the present invention;
[0022] Figure 2 is a perspective view of a propeller assembly, according to an
illustrative
embodiment of the present invention;
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[0023] Figure 3 is a side view of a propeller assembly, according to another
illustrative
embodiment of the present invention;
[0024] Figure 4 is a schematic block diagram of electric components used for
controlling the
propulsion of a watercraft, in accordance with an illustrative embodiment of
the present
invention; and
[0025] Figure 5 is schematic block diagram of electric components for
controlling the propulsion
of a watercraft, in accordance with an illustrative embodiment of the present
invention.
[0026] Figure 6 is schematic block diagram illustrating various inputs and
outputs of the
electronic control module, in accordance with an illustrative embodiment of
the present
invention.
[0027] Figure 7 is schematic flow diagram of a method for operating a system,
according to an
illustrative embodiment of the present invention.
[0028] Figure 8 is a schematic diagram of operation of the system in a first
mode, according to
an illustrative embodiment of the present invention.
[0029] Figure 9 is a schematic graphic of the maximum power and voltage of the
propulsion
motor with or without assistance from a generator, according to an
illustrative embodiment of
the present invention.
[0030] Figure 10 is a schematic diagram of operation of the system in a second
mode,
according to an illustrative embodiment of the present invention.
[0031] Figure 11 is a schematic diagram of operation of the system in a third
mode, according
to an illustrative embodiment of the present invention.
DETAILED DESCRIPTION
[0032] The present invention is illustrated in further details by the
following non-limiting
examples.
[0033] Referring to Figure 1, there is shown a kayak or watercraft 10 with a
seat 12 provided for
the watercraft operator. Propulsion is accomplished via a centrally mounted
propulsion unit 14.
The propulsion unit 14 includes a foot pedal mechanism 16, similar to that of
common bicycles,
having a pedal 18 with a crank arm 20 that is operatively connected to a
spindle 22 and chain
wheel 24 about which is mounted a chain 26. The foot pedal mechanism 16 is
operatively
coupled to an electric generator 28 that is mechanically powered via the chain
26. It is also
possible to have the pedal arms connected directly to the generator 28 without
the use of chain
wheel and chain with proper generator winding configuration. The watercraft
operator rotates
the electric generator 28 by pedaling via the pedal 18. Mechanical power (i.e.
kinetic energy) of
Date Recue/Date Received 2022-12-25
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the watercraft operator's pedaling action is converted to electrical power via
the electric
generator 28. Although a foot pedal 18 is shown, the electric generator 28 may
instead be
operatively connected to hand grips and positioned to utilize upper body
motion, rather than leg
motion. The electric generator 28 may be a brushless DC (BLDC) motor, such as
for example
having rating of 48 Volts and 500 Watts, but any other suitable generator may
be used instead
as persons skilled in the art will understand. A battery 44 is shown connected
to the propulsion
unit 14.
[0034] Referring now to Figure 2, in addition to Figure 1, the propulsion unit
14 also includes a
propeller assembly 30 having an electric motor 32 operatively connected to a
screw propeller 34
with helical blades 36. The electric motor 32 is shown mounted on a pivoting
shaft 38 at one
end thereof extending in a generally central position of the watercraft 10.
The propeller
assembly 30 may alternatively be fixedly mounted to the watercraft instead of
being pivotably
mounted and a separate rudder (not shown) may be used to direct the
watercraft. A control
console 40 is mounted on the other end of the pivoting shaft 38. A handle 42
is connected to the
control console 40 for directing the screw propeller 34 towards different
directions via the
pivoting shaft 38.
[0035] Referring now to Figure 3, there is shown an alternative propulsion
unit for a kayak or
watercraft that is similar to the one shown in Figure 1. The propulsion unit
includes pedals 18
with a crank arm 20 that is directly connected to an electric generator 28.
The watercraft
operator rotates the electric generator 28 by pedaling via pedals 18.
Mechanical power (i.e.
kinetic energy) of the watercraft operator's pedaling action is converted to
electrical power via
the electric generator 28. In this embodiment, the electrical generator 28 is
slidably mounted on
a horizontally adjustable shaft 21 via a locking mechanism 23 for locking in
position the shaft 21
with respect to a vertical shaft 25. The adjustable shaft 21 is especially
useful in watercrafts or
kayaks where the seats are not adjustable horizontally and allow for operators
with different leg
lengths to comfortably adjust the pedal distance. Similarly, as in Figure 1,
the propulsion unit
also includes a propeller assembly having an electric motor 32 operatively
connected to a screw
propeller 34 with helical blades 36. A battery 44 is electrically connected to
the propulsion unit.
A motor controller 48 is shown above shaft 38 that links the motor controller
48 to the electric
motor 32.
[0036] Referring now to Figure 4, in addition to Figures 1 to 3, there is
shown some of the
electric components of the propeller assembly 30 that are used for controlling
the propulsion of
the watercraft 10. As can be seen, the electric generator 28 is not
mechanically connected to
the motor 32, which is advantageous over know prior art watercraft propeller
systems described
in the background section where it was explained that it is difficult to
effectively couple two
Date Recue/Date Received 2022-12-25
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driving forces that would have to accomplish the transmission of force on two
different planes or
axes.
[0037] A battery 44, such as a lithium oxide battery or any suitable kind of
batteries, is
operatively electrically connected to the electric generator 28 for storing
the power generated by
the pedaling action of the foot pedal mechanism 16.
[0038] Referring back to Figures 3 and 4, an electric control module 46 is
shown operatively
connected to the electric generator 28 and a motor controller 48 is shown
operatively connected
to the electric motor 32.
[0039] Referring now to Figure 5, in addition to Figures 1 to 4, there is
shown a more detailed
schematic diagram of components of a propulsion system, according to a
preferred
embodiment. The electric control module 46 is shown operatively connected to
the electric
generator 28 with pedals 18 and crank arms 20. The electronic module 46 is
also operatively
connected to the motor controller 48, which is shown connected to the electric
motor 32. The
electronic control module 46 includes a comparator LM1 that has its two inputs
respectively
connected to the generator 28 at terminals 28.1 and 28.2. The output of the
comparator LM1 is
connected to an input of the motor controller 48. The electronic control
module 46 includes a
rectifying diode bridge D for converting AC power from the generator 28 to DC
power for
powering the battery 44, and motor 32. The diode bridge D has four diodes with
two AC
terminals D1, D2 respectively connected across terminals 28.1 and 28.2 of the
generator 28.
The diode bridge D has a positive terminal D3 connected to a positive terminal
of the motor
controller 48 and to a positive terminal 44.1 of battery 44. The diode bridge
D has a negative
terminal D4 connected to a first input (14, 15, 16) of an integrated circuit
U4 (INA250A1PWR),
which includes a processor with a memory. A second input (1, 2, 3) of the
integrated circuit U4
is connected to a negative terminal 44.2 of the battery 44 and to a negative
terminal of the
motor controller 48. An output 9 of the integrated circuit U4 is connected to
an input of the motor
controller 48 for allowing a selection of the power assistance level that is
controlled by the user
to provide power from the generator 28 to the motor 42.
[0040] Referring now to Figure 6, in addition to Figures 1 to 5, there is
shown the different
inputs and outputs of the electric control module 46. Inputs include generator
power 60 from
electric generator 28 and power level adjustment 61. Outputs include battery
power 62 to the
battery 44, propulsion motor controller power 63 to the motor controller 48,
motor assistance
control 64, motor forward/reverse control 65 and generator power information
66.
[0041] Referring now to Figure 7, in addition to Figures 1 to 6, there is
shown a schematic flow
diagram of a method for operating a system including the electronic control
module 46 for
coupling the pedal powered generator 28 to the motor controller 48 of the
watercraft motor 32,
Date Recue/Date Received 2022-12-25
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according to a preferred embodiment. The method begins operation by reading a
current from
generator 28 at step 70. A filtering of the current is performed at step 72.
The filtered current of
the generator 28 is compared against a threshold value, for example 1 A, at
step 74. If the
filtered current of the generator 28 is lower than 1 A then the propulsion
motor 32 is stopped at
step 76. If the current of the generator is greater than 1 A, then the method
continues by
calculating the propulsion motor power command sent by the electronic control
module 46 to the
motor controller 48 at step 78. The calculation of the propulsion motor power
command is
determined according to the selection of assistance mode at step 80 that is
used to calculate
the motor/generator ratio at step 82. The selection of assistance mode at step
80 includes the
selection of: 1. High motor power mode; or 2. Increase autonomy mode; or 3.
Battery recharge
mode. Another input parameter for calculating the propulsion motor power
command involves
receiving a value of the generator increase bus DC voltage at step 84. The
propulsion motor
power command obtained at step 78 is then compared with a general direction at
step 86. If the
motor power command corresponds to a forward direction then the motor
controller 48 activates
the propulsion motor 32 to forward at step 88. If the motor power command
corresponds to a
reverse direction then the motor controller 48 activates the propulsion motor
32 to reverse at
step 90.
[0042] The power provided by the generator 28 to the motor 32 can be
calculated according to
the following formula:
[0043] Pmotor = PGenerator * A
where Pmotor is the power of motor propulsion in Watts (W).
[0044] PGenerator is the power generated by the pedaling user in Watts (W)
A is the assistance factor, which may be for example from 0 to 300%.
[0045] The energy provided by the generator 28 to the battery 44 can be
calculated according
to the following formula:
[0046] EBattery = EGenerator ¨ EMotor
where EBattery is the energy of the battery 44, EGenerator is the energy of
the generator 28 and
Emotor is the energy of the motor 32, in Watts-hour (Wh).
[0047] The power of the generator 28 is calculated according to the following
formula:
[0048] PGenerator = 0 if RPMGenerator < RPM Minimum
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where RPMGenerator is the rotation per minute (rpm) of the generator 28, and
RPMminimum is
the minimum rotation per minute (rpm) of the generator 28 for producing
energy.
[0049] The maximum power provided by to the motor 32 by the generator 28 can
be calculated
according to the following formula:
[0050] MaXPmotor = 'Motor * (VOCBattery RINT * (IGenerator ¨ 'Motor))
where MaXPmotor is the maximum power available for the propulsion motor 32 in
Watts (W),
'Motor is the current of the motor 32 in Amps (A), VOCBattery is the voltage
charge of the
battery 44 in Volts (V), RINT is the internal resistance of the battery 44 in
Ohms (0), 'Generator is
the current of the generator 28 in Amps (A).
[0051] The direction of rotation of the motor 32 is in the same direction as
the direction of
rotation of the generator 28, which is determined by the electronic control
module (46) by means
of the comparator (LM 1).
[0052] Referring to Figure 8, in addition to Figures 1 to 7, there is shown a
schematic diagram
of operation of the system in an Assistance Mode 1: "High motor power" where
both the
generator 28 and battery 44 provide 100% of their available power to the
propulsion motor 32
to achieve 200% of available power.
[0053] Referring to Figure 9, in addition to Figures 1 to 8, there is shown a
schematic graphic of
the maximum power MaXPmotor provided by to the motor 32 and the voltage of the
battery 44
with no input power provided by the generator 28 to achieve a low power level
LPL and low
voltage level LVL, which is contrasted with the input power provided by the
generator 28 to
achieve a high power level HPL and high voltage level HVL.
[0054] Referring to Figure 10, in addition to Figures 1 to 9, there is shown a
schematic diagram
of operation of the system in an Assistance Mode 2: "Increase Autonomy" where
the generator
28 provides 80% of the power and the battery 44 provides 20% of the power to
achieve 100% of
available power to the propulsion motor 32.
[0055] Referring to Figure 11, in addition to Figures 1 to 10, there is shown
a schematic
diagram of operation of the system in an Assistance Mode 3: "Battery recharge"
where the
generator 28 provides 100% of the power and the battery 44 receives 100% of
the power, while
the propulsion motor 32 receives 0% of the power.
[0056] In embodiments, the system according to the present invention combines
nautical
electric propulsion from the electric motor 32 with that of a human being via
the pedal assembly
16 and electric generator 28. This makes it possible to add the human force to
the electric
Date Recue/Date Received 2022-12-25
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power. For example, 500 Watts of electric propulsion + 250 Watts of human
power = 750 Watts
of total power.
[0057] In embodiments, the system according to the present invention optimizes
the pedal's
speed and effort to adapt to different users with different physical
conditions.
[0058] In embodiments, the system of the present invention effectively allows
for the
combination of electric boat propulsion with human propulsion effort.
[0059] In embodiments, the system of the present invention advantageously
eliminates the
need for an extensive mechanical overdrive.
[0060] In embodiments, the system of the present invention allows an
electrical connection only
between the electrical components. It thereby enables ease of integration.
[0061] In embodiments, the system of the present invention is advantageously
modular. The
electric propulsion module can be used without the generator and with almost
any type of
battery.
[0062] In embodiments, the system of the present invention allows for several
choices of
techniques for using the system:
[0063] - Combined mode Human power + electric = Faster.
[0064] - Generator mode: Allows charging the battery.
[0065] - Battery Only Mode: No need to pedal
[0066] Forward and reverse motion can be accomplished by reversing the pedals
rotation or by
using the forward or reverse option on the display of the control console 40
that is operatively
connected to the electric control module 46.
[0067] - Only Human Mode: No need for battery power.
[0068] The electronic control module 46 allows among other things to have
different levels of
electrical assistance.
[0069] The scope of the claims should not be limited by the preferred
embodiments set forth in
the examples, but should be given the broadest interpretation consistent with
the description as
a whole.
Date Recue/Date Received 2022-12-25
